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Cleanup moveit_config #57

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merged 1 commit into from
Jan 18, 2024
Merged

Cleanup moveit_config #57

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15 changes: 3 additions & 12 deletions abb_bringup/launch/abb_moveit.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,14 +61,16 @@ def launch_setup(context, *args, **kwargs):
"kinematics.yaml",
)
)
# MoveIt does not handle controller switching automatically
.trajectory_execution(
file_path=os.path.join(
get_package_share_directory(
f"{moveit_config_package.perform(context)}"
),
"config",
"moveit_controllers.yaml",
)
),
moveit_manage_controllers=False,
)
.planning_scene_monitor(
publish_planning_scene=True,
Expand All @@ -90,23 +92,12 @@ def launch_setup(context, *args, **kwargs):
.to_moveit_configs()
)

# MoveIt controllers
moveit_controllers = {
"moveit_simple_controller_manager": load_yaml(
f"{moveit_config_package.perform(context)}",
"config/moveit_controllers.yaml",
),
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
}

# Start the actual move_group node/action server
move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[
moveit_config.trajectory_execution,
moveit_controllers,
moveit_config.to_dict(),
],
)
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